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In a large bowl, dissolve yeast in milk. Add the butter, sugar, eggs, salt and 3 cups flour. Beat on medium speed for 3 minutes. Stir in enough remaining flour to form a firm dough.
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Turn onto a floured surface; knead until smooth and elastic, about 6-8 minutes. Place in a greased bowl, turning once to grease the top. Cover let rise until doubled.
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For caramel, in a small saucepan, bring the brown sugar, butter and cream to a boil. Cook and stir for 3 minutes. Pour half into a greased 10-in. fluted tube pan; sprinkle with half of the pecans.
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Punch dough down; shape into 40 balls (about 1-¼-in. diameter). In a shallow bowl, combine sugar and cinnamon. Place melted butter in another bowl. Dip balls in butter, then roll in sugar mixture.
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Place 20 balls in the tube pan; top with remaining caramel and pecans. Top with remaining balls. Cover and let rise until doubled, about 45 minutes.
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Bake at 350F for 30-35 minutes or until golden brown. (Cover loosely with foil if top browns too quickly.) Cool for 10 minutes before inverting onto a serving plate. Serve warm.